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Robot Programming: A Practical Guide to Behavior-Based Robotics / Edition 1

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ISBN-10:: 0071427783
ISBN-13:: 9780071427784
Pub. Date:: 12/12/2003
Publisher:: McGraw Hill LLC

ISBN-10:: 0071427783
ISBN-13:: 9780071427784
Pub. Date:: 12/12/2003
Publisher:: McGraw Hill LLC

Robot Programming: A Practical Guide to Behavior-Based Robotics / Edition 1

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Overview

Publisher's Note: Products purchased from Third Party sellers are not guaranteed by the publisher for quality, authenticity, or access to any online entitlements included with the product.

MASTER ROBOT PROGRAMMING ITH YOUR OWN FREE VIRTUAL 'BOT!

This ingenious book/Web site partnership teaches the skills you need to program a robot -- and gives you a virtual robot waiting online to perform your commands and test your programming expertise. You don't need to know either robotics or programming to get started!

Using an intuitive method, Robot Programming deconstructs robot control into simple and distinct behaviors that are easy to program and debug for inexpensive microcontrollers with little memory. Once you’ve mastered programming your online 'bot, you can easily adapt your programs for use in physical robots.

Though Robot Programming smoothes the path to acquiring skills in this arcane art, it does not reduce it to simplistics. With this resource, you can open the door to all the complexity, sophistication, versatility, and robustness that it is possible for robot behavior to exhibit.

WHAT DO YOU WANT YOUR ROBOT TO DO?
Robot Programming's hands-on approach to behavior-based robotics--
* Teaches you intuitively, with a system that integrates explanation, code examples, and exercises using an online robot simulator
* Demonstrates programming for mobile robots
* Gives you the tools to combine sensors with robot skills
* Shows you how to develop new robot behaviors by manipulating old ones and adjusting programming parameters
* Provides examples of programming for object seeking, object avoidance, decision-making, and much more
* Leads you to advanced strategies for designing your own behavior-based systems from scratch
* Introduces the history and theory behind behavior-based programming
* Requires no background in either programming or robotics

Product Details

ISBN-13:	9780071427784
Publisher:	McGraw Hill LLC
Publication date:	12/12/2003
Series:	Tab Robotics
Pages:	293
Product dimensions:	7.00(w) x 9.00(h) x 1.00(d)

About the Author

McGraw-Hill authors represent the leading experts in their fields and are dedicated to improving the lives, careers, and interests of readers worldwide

Joe Jones (Acton, MA) is a veteran roboticist, currently employed by iRobot. He is the co-author of Mobile Robots: Inspiration to Implementation, as well as numerous articles in the field of robotics. He is one of the inventors of the Roomba(R) Robotic FloorVac, the first widely adopted consumer robot.

Daniel Roth (Cambridge, MA) is a master's degree candidate in computer science at the Massachusetts Institute of Technology, specializing in autonomous robot navigation.

	Preface	xi
	Acknowledgments	xvii
	Introduction	xix
1	Autonomous Mobile Robots	1
	Example: Collection Task	1
	Robot Defined	6
	Sensing	8
	Actuation	10
	Intelligence	11
	Mobile and Immobile Robots	11
	Responding to the Challenge	15
	Robot's World View	16
	Summary	20
	Exercises	21
2	Control Systems	25
	Open and Closed Loop Control	25
	Position Control Example	30
	Control System Catastrophe	31
	Control System Stability	33
	Saturation, Backlash, and Dead Zones	36
	Open Loop Controllers with Parameters and State	39
	Bang-Bang Controllers	40
	Hysteresis	42
	Summary	44
	Exercises	45
3	Behaviors	49
	Triggers and Control Systems	49
	Servo and Ballistic Behaviors	51
	Implementing Servo Behaviors	52
	Finite State Analysis	57
	FSM Example: Escape	63
	FSM Implementation	67
	Overloading Behaviors	70
	Summary	70
	Exercises	71
4	Arbitration	75
	Fixed Priority Arbitration	75
	When to Arbitrate	79
	Graceful Degradation	83
	The Path Not Taken	87
	Sensor Qualification	89
	Other Arbitration Schemes	92
	Variable Priority	92
	Subsumption Architecture	93
	Motor Schema	97
	Least Commitment Arbitration	100
	Summary	102
	Exercises	103
5	Programming	107
	Homing Based on Differential Detectors	107
	Homing Based on Absolute Position	112
	Avoidance with Differential Detectors	117
	Anti-Canyoning	120
	Wall-Following with Contact Sensors	124
	Wall-Following with Ranging Sensors	126
	Wall-Following with Proximity Sensors	127
	Confinement and Cliff Behaviors	128
	Thrashing	130
	Escape	133
	Area Coverage	134
	Deterministic Coverage	134
	Random Coverage	135
	Generalized Differential Response	139
	Avoidance and Homing Using Vectors	143
	Debugging	145
	Summary	146
	Exercises	147
6	Decomposition	151
	SodaBot	152
	Stating the Problem	152
	Accomplishing the Task Simply	156
	Visit Likely Spots	157
	Identify Soda Cans	157
	Abandoned versus Active Sodas	158
	Can Pickup	160
	Navigation	161
	Identify, Deposit, and Recharge	162
	Avoid Hazards	163
	Mechanical Platform	164
	Which Questions?	164
	Which Sensors?	165
	Building Behaviors	167
	SodaBot Behaviors	167
	Robot Recap	171
	Principles	172
	First Do No Harm	172
	Tilt the Playing Field	172
	Prefer Robust Chaos to Brittle Determinism	172
	Summary	173
	Exercises	174
7	Physical Interfaces	177
	Collision Sensors	179
	Bumpers	180
	Stall Sensors	183
	Stasis Sensing	185
	Avoidance Sensors	185
	Infrared Proximity Sensors	186
	Infrared Range Sensors	188
	Sonar Sensors	189
	Range-Sensor Considerations	190
	Homing Sensors	192
	Photocells, Phototransistors, and Photodiodes	192
	Coded Beacons	194
	Pyroelectric Sensors	196
	Color Blob Sensors	196
	Magnetic Sensors	197
	Dead Reckoning and Navigation Sensors	197
	Shaft Encoders	197
	Inertial Sensors	199
	Compasses	199
	GPS	201
	Summary	201
	Exercises	202
8	Implementation	203
	RoCK Specifications: The Goal of a New Machine	203
	Programming Specifications	208
	RoCK's Behaviors	211
	Dance	211
	IR_follow and VL_follow	212
	Boston	212
	Cruise	212
	Escape	212
	Joystick	213
	Wire	213
	Beeper Control	213
	The Code	214
	Scheduler	214
	Behavior Format	216
	Arbiter	222
	Summary	226
	Exercises	226
9	Future Robots	229
	Reply Hazy--Ask Again Later	230
	Which Path?	232
	Future Actuation	233
	Power	233
	Motors	234
	Manipulation	235
	Locomotion	237
	Future Intelligence	237
	Robot Control	238
	Learning	238
	Future Sensing	239
	Vision	240
	Acoustic Sensing	240
	Other Sensors	241
	Exercise	242
A	Mathematics of Differential Drive	243
	Pose	243
	Dead Reckoning	245
	Differential Drive	249
	London Fog	252
	Limits of Dead Reckoning	253
	Summary	254
	Exercises	256
B	BSim	259
	BSim Aspects	259
	The Simulator and Time	259
	The World	260
	Fantasy Mode and Noise	261
	Latency	261
	A Simple Robot	261
	Behaviors and Arbitration	262
	Cruise	263
	Escape	263
	Avoid	263
	Wall Follow	264
	Home	264
	Anti-Moth	265
	Dark-Push	265
	London	265
	Gizmo	265
	Remote	266
	Tasks	266
	Collection Task	266
	Gizmo Task	266
	London Task	267
	Simulations	267
	Collection Simulation	267
	London Simulation	267
	Gizmo Simulation	267
	User Interface	268
	World Editor	268
	The Robot Programmer	268
C	Frequently Used Functions	271
	Clip	271
	Leaky Integrator	272
	Running Average	274
	Angle Computations	275
D	Pseudocode	279
E	Bibliography	283
	Index	285

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Editorial Reviews

Jones, one of the inventors of the first widely adopted consumer robot, introduces the history and theory behind behavior-based programming, teaches skills needed for programming a robot, and provides readers with a virtual robot on a web site to test programming expertise. Using. an intuitive method, he deconstructs robot control into simple behaviors that are easy to program and debug for inexpensive microcontrollers with little memory. No background is required in programming or robotics..

From the Publisher

Jones, one of the inventors of the first widely adopted consumer robot,introduces the history and theory behind behavior-based programming, teaches skills needed for programming a robot, and provides readers with a virtual robot on a web site to test programming expertise. Using
an intuitive method, he deconstructs robot control into simple behaviors that are easy to program and debug for inexpensive microcontrollers with little memory. No background is required in programming or robotics.

Sci-Tech Book News

Jones, one of the inventors of the first widely adopted consumer robot, introduces the history and theory behind behavior-based programming, teaches skills needed for programming a robot, and provides readers with a virtual robot on a web site to test programming expertise. Using an intuitive method, he deconstructs robot control into simple behaviors that are easy to program and debug for inexpensive microcontrollers with little memory. No background is required in programming or robotics.

Robot Programming: A Practical Guide to Behavior-Based Robotics / Edition 1

Robot Programming: A Practical Guide to Behavior-Based Robotics / Edition 1

Paperback

Temporarily Out of Stock Online

Overview

Product Details

About the Author

Table of Contents

Customer Reviews

Temporarily Out of Stock Online

Overview

Product Details

About the Author

Table of Contents

Related Subjects

Customer Reviews